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fix(headless): correctly scale cmd_vel values

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David
2026-04-11 19:12:49 -05:00
parent 5e0946e8d7
commit 191c9d613d
1 changed files with 7 additions and 3 deletions
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10
src/headless_pkg/src/headless_node.py
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@@ -366,10 +366,14 @@ class Headless(Node):
) # Exponent for finer control (curve) ) # Exponent for finer control (curve)
# This kinda looks dumb being seperate from the following block, but this # This kinda looks dumb being seperate from the following block, but this
# maintains the separation between modifying the control message and sending it # maintains the separation between modifying the control message and sending it.
if self.use_cmd_vel: if self.use_cmd_vel:
twist.linear.x *= 1.5 # These scaling factors convert raw stick inputs to absolute m/s and rad/s
twist.angular.z *= 0.5 # values that DiffDriveController will convert to motor RPM, rather than
# the plain Twist, which just sends the stick values as duty cycle and
# sends that scaled to the motors.
twist.linear.x *= 1.0
twist.angular.z *= 1.5
# Publish # Publish
if self.use_cmd_vel: if self.use_cmd_vel: